US10747413B2 - Apparatuses, methods and computer programs for controlling a machine - Google Patents

Apparatuses, methods and computer programs for controlling a machine Download PDF

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Publication number
US10747413B2
US10747413B2 US15/341,097 US201615341097A US10747413B2 US 10747413 B2 US10747413 B2 US 10747413B2 US 201615341097 A US201615341097 A US 201615341097A US 10747413 B2 US10747413 B2 US 10747413B2
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user input
sensor data
input sensor
machine
controlling
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US20170228145A1 (en
Inventor
Daniel Schneider
Thomas Kuhn
Rasmus Adler
Viet Yen Nguyen
Patrik Feth
Emilia Cioroaica
Bastian Zimmer
Martin Kremmer
Thomas Floerchinger
Benjamin Neermann
Norbert Fritz
Stefan Volz
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Deere and Co
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/002—Details, component parts
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04886—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures by partitioning the display area of the touch-screen or the surface of the digitising tablet into independently controllable areas, e.g. virtual keyboards or menus
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/93—Remote control using other portable devices, e.g. mobile phone, PDA, laptop

Definitions

  • Embodiments relate to apparatuses, methods and computer programs for controlling a machine, more specifically, but not exclusively, based on providing a sensor input signal to a machine control entity.
  • Mobile communication devices especially smartphones and tablet computers, have started transforming large parts of today's life.
  • mobile communication devices that allow an installation of additional software, so called apps (applications)
  • apps allow mobile communication devices to be used in a multitude of different scenarios.
  • Applications range from simple messaging, to navigating, to controlling a smart home, while being a large distance away.
  • the controlling of machines e.g. of heavy machinery, such as agricultural equipment, industrial machines, or commercial vehicles, is often built on a framework of reliable components.
  • a number of certification standards such as International Standardization Organization (ISO) 25119 and ISO 12100 regulate a safety and reliability of such controlling.
  • Standardized testing and functional verification are often used to ascertain (to a certain degree) the reliability and fault tolerance of such controlling components.
  • Patent application DE 102014211712 A1 describes an arrangement for controlling a machine component of an agricultural machine using a machine control entity being wirelessly connected to a portable computer.
  • Patent application EP 2821864 A1 discloses a method for controlling an auxiliary function by a control element in an electronic control system of an agricultural machine based on displaying virtual control elements for controlling the auxiliary function.
  • Embodiments provide apparatuses, methods and computer programs for controlling a machine.
  • Embodiments provide an apparatus for a mobile communication device and an apparatus for a machine control entity.
  • the apparatus for the mobile communication device has one or more sensor modules and a control module, which determines a sensor input signal based on first and a second user input sensor data, which is based on user input.
  • the sensor input signal may e.g. comprise the user input sensor data, and is provided to the machine control entity for processing of the user input sensor data.
  • the machine control entity obtains the sensor input signal from the apparatus for the mobile communication device, and validates the sensor data.
  • the validation is based on using first user input sensor data of a first sensor to validate second user input sensor data of the second sensor, e.g. by testing for a certain condition of the first input sensor data. If the validation is successful, the machine control entity controls the machine based on the sensor data.
  • Embodiments provide an apparatus for a mobile communication device for providing a sensor input signal to an external machine control entity to control a machine.
  • the apparatus comprises one or more sensor modules for providing first user input sensor data and second user input sensor data.
  • the apparatus further comprises a control module configured to determine the sensor input signal based on the first user input sensor data and the second user input sensor data.
  • the control module is further configured to provide the sensor input signal for sensor data processing and validation to the machine control entity to control the machine via an interface.
  • Providing the sensor input signal to the machine control entity enables a transfer of the processing to a module or device that can be certified to be reliable (to a point), and may enable the mobile communication device to reliably control the machine.
  • Using different sensor data enables a mutual validation of the sensor data, and may increase a reliability of the controlling.
  • control module may be further configured to obtain a sensor feedback signal from the machine control entity via the interface.
  • the sensor feedback signal may be based on the first user input sensor data and the second user input sensor data.
  • the sensor feedback signal may comprise information related to a validation of the second user input sensor data based on a comparison of the first user input sensor data with a validation criterion.
  • the sensor feedback signal may be used to output, e.g. display, a result of the validation of the first and second user input sensor data, e.g. to avoid a display mismatch between locally determined sensor data and the validated sensor data used at the machine control entity.
  • control module may be configured to determine a feedback presentation signal based on the sensor feedback signal.
  • the control module may be further configured to provide the feedback presentation signal to a feedback presentation device configured to provide feedback on the first user input sensor data and the second user input sensor data based on the feedback presentation signal.
  • the sensor feedback signal may be used to output, e.g. display, a result of the validation of the first and second user input sensor data, e.g. to avoid a display mismatch between the locally determined sensor data and the validated sensor data used at the machine control entity.
  • the apparatus may further comprise the feedback presentation device.
  • the feedback presentation device may correspond to at least one element of a screen, a vibration module, a light module, an electromechanical tactile display, or a speaker.
  • the feedback presentation device may be configured to provide at least one element of the group of audio, visual and tactile feedback.
  • the control module may be configured to determine and provide a visual representation of the first user input sensor data and/or the second user input sensor data via the feedback presentation device.
  • the sensor feedback signal may be used to output, e.g. display, a result of the validation of the first and second user input sensor data, e.g. to avoid a display mismatch between the locally determined sensor data and the validated sensor data used at the machine control entity.
  • the one or more sensor modules may comprise a first sensor module configured to provide the first user input sensor data and a second sensor module configured to provide the second user input sensor data.
  • the one or more sensor modules may comprise at least one element of the group of a touch sensor, an accelerometer, a gyroscope, an infrared sensor, a microphone and a camera sensor. Using different sensors enables a mutual validation or refinement of the sensor data, e.g. by using the second user input sensor data based on a result of the first user input sensor data.
  • the first user input sensor data and/or the second user input sensor data may correspond to raw user input sensor data.
  • Using raw sensor data may reduce a probability of failure in the mobile communication device, by deferring the processing and validation to the machine control entity.
  • the first user input sensor data and/or the second user input sensor data may correspond to at least one element of the group of touch screen coordinates, a touch gesture, a voice command, angular data of a gyroscope, acceleration data of an accelerometer, or imaging data of a camera sensor, e.g. a combination of multiple elements of the group.
  • Using different sensor data enables a mutual validation or refinement of the sensor data, e.g. by using the second user input sensor data based on a result of the first user input sensor data.
  • the apparatus may further comprise the interface.
  • the interface may correspond to a wireless communication interface for communication via a mobile communication system.
  • the control module may be configured to wirelessly communicate with the machine control entity via the interface.
  • a wireless communication may enhance a flexibility of a user controlling the machine.
  • the first user input sensor data may correspond to touch screen coordinates.
  • the second input sensor data may correspond to angular data of a gyroscope.
  • the control module may be configured to provide the sensor input signal to the machine control entity to control a hitch of a tractor.
  • touch screen coordinates and angular data to control the hitch of a tractor may e.g. enable an activation, a selection of a hitch, and/or selection of a hitch directivity using the touch screen coordinates, and a control of a distance of the hitch from ground using the angular data, for example.
  • Embodiments further provide an apparatus for a machine control entity for controlling a machine based on a sensor input signal from a mobile communication device.
  • the apparatus comprises at least one interface for receiving the sensor input signal from the mobile communication device.
  • the sensor input signal comprises information related to first user input sensor data and information related to second user input sensor data.
  • the apparatus further comprises a control module configured to validate the second user input sensor data based on the first user input sensor data. The validation is based on a comparison of the first user input sensor data with at least one validation criterion.
  • the control module is further configured to control the machine based on the first user input sensor data and the second user input sensor data after the second user input sensor data has been validated.
  • Controlling the machine based on the first and second user input sensor data may remove a processing and validation of the sensor data from the mobile communication device, increasing a reliability of the processing. Validating the sensor data may further increase reliability and may help protect against erroneous user input and/or erroneous sensor data.
  • control module may be further configured to determine a sensor feedback signal based on the first user input sensor data, the second user input sensor data and the validation.
  • the sensor feedback signal may comprise information related to a result of a validation comparison of the second user input sensor data based on the first user input sensor data.
  • the sensor feedback signal may be used to output, e.g. display, a result of the validation of the first and second user input sensor data, e.g. to avoid a display mismatch between the locally determined sensor data and the validated sensor data used at the machine control entity.
  • control module may be further configured to determine a plausibility of the first user input sensor data and the second user input sensor data based on a plausibility criterion.
  • the control module may be configured to control the machine after the first user input sensor data and the second user sensor data has been determined to meet the plausibility criterion. Determining the plausibility may further increase reliability, e.g. by checking for erroneous sensor data.
  • control module may be configured to determine whether the first user input sensor data is within a range defined by the validation criterion to validate the second user input sensor data.
  • a range may e.g. enable using touch screen coordinates of a gyroscope angle range to validate the sensor data.
  • the first user input sensor data may correspond to touch coordinates.
  • the control module may be configured to determine whether the touch coordinates are within one of one or more pre-defined areas within a pre-defined coordinate system.
  • the one or more pre-defined areas may represent one or more pre-defined control actions for controlling the machine.
  • Using the touch coordinates may enable a user of the mobile communication device to select options using a touch screen of the mobile communication device, e.g. by selecting or pressing a button, or by navigating a control to an area indicating a valid state.
  • control module may be configured to control the machine based on the first user input sensor data and the second user input sensor data.
  • the control module may be configured to determine a category of the controlling based on the first user input sensor data.
  • the control module may be configured to determine an extent of the controlling based on the second user input sensor data. Using the first user input sensor data to select a category may enable both a validation of the second user input sensor data and a refinement or specification of a usage of the second user input sensor data.
  • the first user input sensor data may be based on user input related to an unlocking action.
  • the second user input sensor data may be based on user input related to a determination of an extent of the controlling of the machine. Determining the unlocking of the controlling and the controlling itself based on different user input may enhance a reliability and/or safety of the controlling.
  • the category of the controlling may correspond to at least one element of the group of a directivity of the controlling, a selection of a machine component to be controlled, a selection of a controlling sensitivity, and a selection of controlling limits.
  • Using the first user input sensor data to select a category may enable both a validation of the second user input sensor data and a refinement or specification of a usage of the second user input sensor data.
  • Embodiments further provide a method for a mobile communication device for providing a sensor input signal to an external machine control entity to control a machine.
  • the method comprises providing first user input sensor data.
  • the method further comprises providing second user input sensor data.
  • the method further comprises determining the sensor input signal based on the first user input sensor data and the second user input sensor data.
  • the method further comprises providing the sensor input signal for sensor data processing and validation to the machine control entity to control the machine.
  • Embodiments further provide a method for a machine control entity for controlling a machine based on a sensor input signal from a mobile communication device.
  • the method comprises receiving the sensor input signal from the mobile communication device.
  • the sensor input signal comprises information related to first user input sensor data and information related to second user input sensor data.
  • the method further comprises validating the second user input sensor data based on the first user input sensor data.
  • the validation is based on a comparison of the first user input sensor data with at least one validation criterion.
  • the method further comprises controlling the machine based on the first user input sensor data and the second user input sensor data after the second user input sensor data has been validated.
  • Embodiments further provide a mobile communication device comprising the apparatus for the mobile communication device.
  • Embodiments further provide a machine control entity comprising the apparatus for a machine control entity.
  • Embodiments further provide a machine comprising the machine control entity.
  • Embodiments further provide a computer program having a program code for performing the above method, when the computer program is executed on a computer, a processor, or a programmable hardware component.
  • a further embodiment is a computer readable storage medium storing instructions which, when executed by a computer, processor, or programmable hardware component, cause the computer to implement one of the methods described herein.
  • FIG. 1 illustrates a block diagram of an embodiment of an apparatus for a mobile communication device for providing a sensor input signal to a machine control entity to control a machine;
  • FIG. 1 a illustrates a block diagram of a further embodiment of the apparatus, further comprising a first and a second sensor module;
  • FIG. 1 b illustrates a block diagram of a further embodiment of the apparatus further showing a feedback presentation device
  • FIG. 2 illustrates a block diagram of an embodiment of an apparatus for a machine control entity for controlling a machine based on a sensor input signal from a mobile communication device;
  • FIG. 3 a illustrates a number of exemplary embodiments, wherein an embodiment is based on a touch screen input and camera sensor data, a further embodiment is based on a touch screen input and an angular tilt of a gyroscope, a further embodiment is based on a slider display element and a circular display element and a further embodiment is based on volume buttons, touch screen coordinates and gyroscopic/acceleration sensor data;
  • FIG. 3 b illustrates an exemplary embodiment based on a slider display element and a circular display element
  • FIG. 3 c illustrates another exemplary embodiment based on a touch screen input and an angular tilt of a gyroscope
  • FIG. 4 illustrates a flowchart of an embodiment of a method for a mobile communication device for providing a sensor input signal to a machine control entity to control a machine
  • FIG. 5 illustrates a flow chart of an embodiment of a method for a machine control entity for controlling a machine based on a sensor input signal from a mobile communication device.
  • the term, “or” refers to a non-exclusive or, unless otherwise indicated (e.g., “or else” or “or in the alternative”).
  • words used to describe a relationship between elements should be broadly construed to include a direct relationship or the presence of intervening elements unless otherwise indicated. For example, when an element is referred to as being “connected” or “coupled” to another element, the element may be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present. Similarly, words such as “between”, “adjacent”, and the like should be interpreted in a like fashion.
  • At least some embodiments may provide a functional security concept for using a mobile communication device (e.g. a smartphone) for controlling safety-critical functionality of a machine.
  • a mobile communication device e.g. a smartphone
  • a smartphone is paired to a machine control entity.
  • the connection is secured, but unreliable.
  • the smartphone is assumed to be unsafe and unsecure. Embodiments may reduce or avoid unacceptable risks during controlling.
  • Embodiments may mitigate the relevant sources of danger and reduce an inherent risk of the application to an acceptable amount. Embodiments may be based on core aspects:
  • a mobile communication device may be used to control a hitch of a tractor using an app.
  • the exemplary embodiment may be based on ascertaining, that failures or errors do not cause bodily harm to the user or other people.
  • the exemplary embodiment may be based on the finding, that controlling a reliability of a smartphone app is not trivial, as smartphones are complex systems, and an analysis of the operating system and hardware may not be feasible due to the complexity and an unavailability of the source code and hardware schematics.
  • Embodiments may provide a safety concept for commanding a hitch of a tractor via smartphone in stationary automation.
  • Embodiments may be based on taking the smartphone and wireless communication “out of the critical path”. Embodiments might not implement the application logic on the “unreliable” smartphone, but on a “reliable” machine control entity. In turn, the smartphone might be used as a display+a set of sensors. Embodiments may further provide validated information for the display of the smartphone. Embodiments may detect and mitigate erroneous sensor data, and may reduce an accidental usage of the remote control. Embodiments may further enable that system behavior does not exhibit unacceptable risks.
  • Embodiments may provide that (some of) the conceivable hazardous user behavior/misuses etc. (e.g. smartphone in pocket) are also safeguarded. Embodiments may further support an application of ISO 25119 and ISO 12100 for mechanical hazards, e.g. a deviation between actual and intended hitch movement.
  • Failures are one exemplary cause of hazards. “The operator intends to move one hitch but the other hitch moves” is one exemplary hazard cause by failure. Those failures may e.g. stem from usability issues, e.g. unclear hitch selection view, or behavior issues, such as hitch view mix-up, or security issues, where an attacker flips front hitch selection button pressed to rear hitch button pressed or vice versa. Things that can go wrong in use cases may be failure sequences or failure combinations, e.g. the hitch may start moving even though the operator moves neither the slider nor tilts the smartphone. Somebody may be injured due to commission of starting the movement. The movement may start even though the slider is not moved to an end position, or the smartphone is not in the tilt position. The hitch may move faster than intended by the operator (movement of hitch per unit of time is higher than expected).
  • Safety measures may be taken for achieving safety goals.
  • a safety goal can be supported by several measures.
  • an exemplary safety goal is: The overall system shall only move the front hitch if a front hitch movement is intended, and it shall only move the rear hitch if a rear hitch movement is intended.
  • FIG. 1 illustrates a block diagram of an embodiment of an apparatus 10 for a mobile communication device 100 for providing a sensor input signal to an external machine control entity 300 to control a machine 350 .
  • the external machine control entity is a machine control entity 300 being external to/outside the mobile communication device 100 .
  • the mobile communication device 100 may e.g. correspond to a mobile phone, a programmable mobile phone, a smartphone, a tablet computer, a slate computer, a laptop computer, a mobile computing device, or a personal digital assistant.
  • the machine 350 may e.g. correspond to an agricultural machine, an industrial machine, a machine for a heavy industry, a vehicle, a transportation machine, a tractor, a hoist, a hydraulic lift, a manlift, an articulated arm, or an extension ladder.
  • the machine 350 may also correspond to a sub-unit of a machine, e.g. a hitch of a tractor, or an articulated arm of an industrial robot.
  • the machine control entity 300 may be implemented using one or more processing units, one or more processing devices, any means for processing, such as a processor, a computer or a programmable hardware component being operable with accordingly adapted software.
  • the described function of the control module 300 may as well be implemented in software, which is then executed on one or more programmable hardware components.
  • Such hardware components may comprise a general purpose processor, a Digital Signal Processor (DSP), a micro-controller, etc.
  • DSP Digital Signal Processor
  • the machine control entity 300 may e.g. be situated with the machine 350 , e.g. be comprised in the machine's electronics, or may be located in a communication network and act as a relay, gateway or interpreter between the mobile communication device 100 and the machine 350 .
  • the machine control entity 300 may be configured to control one machine, e.g. multiple components of one machine, or the machine control entity 300 may be configured to control a plurality of machines, e.g. a plurality of components of a plurality of machines.
  • the apparatus 10 comprises one or more sensor modules 12 to provide first user input sensor data and second user input sensor data.
  • the one or more sensor modules 12 may be configured to continuously provide the first user input sensor data and second user input sensor data.
  • at least one of the first user input sensor data and the second user input sensor data may comprise sensor noise.
  • at least one of the first user input sensor data and the second user input sensor data may comprise a continuous user input, e.g. a continuous movement of the mobile communication device or a continuous touch input (e.g. a circle gesture).
  • the one or more sensor modules 12 may comprise a first sensor module 14 a configured to provide first user input sensor data and a second sensor module 14 b configured to provide second user input sensor data.
  • the one or more sensor modules 12 may e.g. comprise at least one element of the group of a touch sensor, an accelerometer, a gyroscope, a camera sensor, an acoustic sensor, a time of flight sensor, or a pressure sensor.
  • the first user input sensor data and/or the second user input sensor data may correspond to at least one element of the group of touch screen coordinates, angular data of a gyroscope, acceleration data of an accelerometer, imaging data of a camera sensor, acoustic data, time of flight data, distance information, or pressure data.
  • the first user input sensor data may be based on user input related to an unlocking action.
  • the unlocking action may e.g. correspond to moving a display element to a target position, pushing a button, bringing the mobile communication device in an angular position, or pressing a touchscreen, e.g. at pre-defined coordinates.
  • the second user input sensor data may be based on user input related to a determination of an extent of the controlling of the machine.
  • the user input related to the determination of the extent of the controlling of the machine may e.g. correspond to changing an angle of the mobile communication device, moving a display element, e.g. a slider user interface element, pushing a button, changing a displayed value, or changing an acceleration or direction of a movement of the mobile communication device.
  • the first user input sensor data and/or the second user input sensor data corresponds may correspond to raw user input sensor data.
  • the first user input sensor data and/or the second user input may e.g. correspond to sensor data as obtained from sensor modules, which may e.g. be preprocessed, e.g. touch coordinates derived from electric currents and capacitances.
  • the apparatus 10 further comprises a control module 16 configured to control the one or more sensor modules 12 , e.g. the first sensor module 14 a and the second sensor module 14 b .
  • the control module 16 is configured to determine the sensor input signal based on the first user input sensor data and the second user input sensor data.
  • the control module 16 may be configured to (continuously) obtain at least one of the first user input sensor data and the second user input sensor data from the one or more sensor modules.
  • the control module 16 is further configured to provide the sensor input signal for sensor data processing and validation to the machine control entity to control the machine via an interface 18 .
  • the control module 16 may be configured to determine the sensor input signal by encapsulating the first and second user input sensor data.
  • the control module 16 may e.g. be configured to determine the sensor input signal based on the first and second user input sensor data without altering the first and second user input sensor data.
  • the control module 16 may e.g. be configured to determine the sensor input signal by forwarding the first and second user input sensor data.
  • the control module 16 may e.g. be configured to continuously forward information related to the first user input sensor data and the second user input sensor data using the sensor input signal to the machine control entity.
  • the control module 16 may e.g.
  • the first and second user input sensor data be configured to perform pre-processing of the first and second user input sensor data by converting physical properties of components, signals, currents or voltages into digital data, e.g. capacitances into touch screen coordinates, output of a gyroscope into angular data, e.g. without performing additional processing.
  • the apparatus may further comprise the interface 18 .
  • the interface 18 may e.g. correspond to a wireless communication interface for communication via a mobile communication system.
  • the control module 16 may be configured to wirelessly communicate with the machine control entity 300 via the interface 18 .
  • the interface 18 may e.g. correspond to a Wireless Local Area Network (WLAN) interface, or it may correspond to an interface for communicating with a cellular mobile communications system, e.g. Universal Mobile Telecommunication System (UMTS), a Long Term Evolution (LTE) mobile communication system, or a cellular mobile communication system of the 5 th Generation (5G).
  • UMTS Universal Mobile Telecommunication System
  • LTE Long Term Evolution
  • 5G 5 th Generation
  • the interface 18 may correspond to one or more inputs and/or outputs for receiving and/or transmitting information, which may be in digital (bit) values according to a specified code, within a module, between modules or between modules of different entities.
  • the interface 18 may be configured to wirelessly communicate with an interface of the machine control entity, e.g. at least one interface 32 as introduced subsequently.
  • the wireless communication and/or a communication of the at least one interface 32 with a control module 34 of the machine control entity as introduced subsequently may e.g. be based on the International Standardization Organization (ISO) standard 11783.
  • ISO International Standardization Organization
  • control module 16 may be further configured to obtain a sensor feedback signal from the machine control entity 300 via the interface 18 .
  • the sensor feedback signal may be based on the first user input sensor data and the second user input sensor data.
  • the sensor feedback signal may comprise information related to processed versions of the first and/or second user input sensor data, e.g. validated, interpolated versions or versions checked for plausibility of the first and/or second user input sensor data.
  • the sensor feedback signal may comprise a visual representation of the first and/or second user input sensor data, e.g. as values, as picture data, or as visual interface instruction data.
  • the sensor feedback signal may comprise information related to a validation of the second user input sensor data based on a comparison of the first user input sensor data with a validation criterion.
  • the information related to the validation may correspond to a version of the of the first and/or second user input sensor data that has been validated, a binary representation indicating a validation, a delta between validated user input sensor data and the user input sensor data of the one or more sensor modules 12 and/or processed versions of the first and/or second user input sensor data.
  • control module 16 may be configured to determine a feedback presentation signal based on the sensor feedback signal.
  • the feedback presentation signal may e.g. be based on a visual, tactile, audio, or signal representation of sensor data comprised in the sensor feedback signal.
  • the control module 16 may be further configured to provide the feedback presentation signal to a feedback presentation device 20 configured to provide feedback on the first user input sensor data and the second user input sensor data based on the feedback presentation signal.
  • the control module 16 may e.g. be configured to determine and provide a visual representation of the first user input sensor data and/or the second user input sensor data via the feedback presentation device 20 .
  • the apparatus may further comprise the feedback presentation device 20 .
  • the feedback presentation device may e.g. correspond to at least one element of a screen, a vibration module, a light module, an electromechanical tactile display, or a speaker.
  • the feedback presentation device 20 may e.g. be configured to provide at least one element of the group of audio, visual and tactile feedback.
  • the control module 16 may e.g. be configured to inform a user of the mobile communication device of a progress of the controlling using tactile, e.g. vibration, sound or display feedback, e.g. by indicating a start or progress of the controlling using vibrations.
  • the control module 16 is coupled to the one or more sensor modules 12 , e.g. the first and second sensor modules 14 a ; 14 b .
  • the control module 16 is further coupled to the optional interface 18 .
  • the control module 16 is further coupled to the optional feedback presentation device 20 .
  • FIG. 2 illustrates a block diagram of an embodiment of an apparatus 30 for a machine control entity 300 for controlling a machine 350 based on a sensor input signal from a mobile communication device 100 .
  • the apparatus 30 comprises at least one interface 32 for receiving the sensor input signal from the mobile communication device 100 .
  • the sensor input signal comprises information related to first user input sensor data and information related to second user input sensor data.
  • the first user input sensor data may be provided by a first sensor module 14 a
  • the second user input sensor data may be provided by a second sensor module 14 b .
  • the information related to the first user input sensor data may comprise the first user input sensor data or a pre-processed version of the first user input sensor data, e.g.
  • the information related to the second user input sensor data may comprise the second user input sensor data or a pre-processed version of the second user input sensor data, e.g. digital values based on physical properties of an output of the second sensor module.
  • the apparatus 30 and/or the machine control entity 300 may be validated or verified to an industrial safety norm, e.g. based on a formal verification of a computer program implementing the apparatus 30 and/or the machine control entity 300 and/or based on one or more unit tests.
  • the at least one interface 32 may correspond to one or more inputs and/or outputs for receiving and/or transmitting information, which may be in digital (bit) values according to a specified code, within a module, between modules or between modules of different entities.
  • the at least one interface 32 may correspond to a wireless communication interface.
  • the apparatus 30 may be configured to wirelessly communicate with the mobile communication device 100 .
  • the apparatus 30 further comprises a control module 34 configured to validate the second user input sensor data based on the first user input sensor data.
  • the validation is based on a comparison of the first user input sensor data with at least one validation criterion.
  • the control module 34 may e.g. be configured to validate the second user input sensor data based on the first user input sensor data indicating a user input correspond to an unlocking of the controlling.
  • the validation criterion may e.g. correspond to pre-defined user input.
  • the pre-defined user input may e.g.
  • control module 34 may be configured to determine whether the first user input sensor data is within a range defined by the validation criterion to validate the second user input sensor data.
  • the first user input sensor data may e.g. correspond to touch coordinates.
  • the control module 34 may be configured to determine whether the touch coordinates are within one of one or more pre-defined areas within a pre-defined coordinate system.
  • the one or more pre-defined areas may e.g. represent one or more pre-defined control actions for controlling the machine 350 .
  • the pre-defined areas may e.g. be represented by buttons, fields or sliders, e.g. indicating an activation/unlocking of the controlling.
  • the control module 34 is further configured to control the machine 350 based on the first user input sensor data and the second user input sensor data after the second user input sensor data has been validated.
  • the control module 34 may be configured to control the machine 350 based on the first user input sensor data and the second user input sensor data.
  • the control module 34 may be configured to determine a category of the controlling based on the first user input sensor data.
  • the control module 34 may be configured to determine an extent of the controlling based on the second user input sensor data.
  • the category of the controlling may e.g. correspond to at least one element of the group of a directivity of the controlling, a selection of a machine component to be controlled, a selection of a controlling sensitivity, and a selection of controlling limits.
  • the control module 34 may e.g. be configured to transform the second and/or first user input sensor data into machine control information, e.g. touch screen coordinates into a directivity, angular data into a velocity of a movement, angular data into a directivity etc
  • control module 34 may be implemented using one or more processing units, one or more processing devices, any means for processing, such as a processor, a computer or a programmable hardware component being operable with accordingly adapted software.
  • the described function of the control modules 16 ; 34 may as well be implemented in software, which is then executed on one or more programmable hardware components.
  • Such hardware components may comprise a general purpose processor, a Digital Signal Processor (DSP), a micro-controller, etc.
  • the control modules 16 may be comprised in a program for a mobile communication device, e.g. an app.
  • control module 34 may be further configured to determine a sensor feedback signal based on the first user input sensor data, the second user input sensor data and the validation.
  • the sensor feedback signal may comprise information related to a result of a validation comparison of the second user input sensor data based on the first user input sensor data.
  • control module 34 may be configured to determine the sensor feedback signal to comprise information related to validated versions of the first and second user input sensor data, e.g. first and second user input sensor data user to control the machine 350 .
  • the control module 34 may be further configured to determine the sensor feedback signal based on versions of the first and/or second user input feedback signal checked for plausibility as described subsequently.
  • the control module 34 may be further configured to determine information related to a representation of the first and/or second user input sensor data for the sensor feedback signal, e.g. for output using the feedback presentation device 20 .
  • control module 34 may be further configured to determine a plausibility of the first user input sensor data and the second user input sensor data based on a plausibility criterion.
  • the control module 34 may be configured to control the machine 350 after the first user input sensor data and the second user sensor data has been determined to meet the plausibility criterion.
  • the plausibility criterion may correspond to at least one element of the group of a lower threshold, an upper threshold, a lower angular threshold, an upper angular threshold, a delta between successive sensor data, or a sequence of sensor data.
  • control module 34 may be configured to communicate in an encrypted format using the at least one interface 32 , e.g. using encryption built into a communication protocol, e.g. WLAN encryption, or using application level encryption, e.g. to safeguard against an alteration of sensor data due to incursion of an attacker.
  • a communication protocol e.g. WLAN encryption
  • application level encryption e.g. to safeguard against an alteration of sensor data due to incursion of an attacker.
  • control module 34 may be further configured to establish a pairing with the mobile communication device 100 .
  • the control module 34 may e.g. be configured to accept the sensor input signal from devices paired with the machine control entity.
  • the pairing may be based on a hardware address of the mobile communication device and/or the machine control entity, and/or the control module 34 may be configured to establish a pairing based on an encryption using a combined master key based on a key exchange algorithm.
  • the control module 16 may be configured to establish the pairing in conjunction with the control module 34 .
  • control module 34 may be configured to stall a controlling of the machine 350 if the sensor input signal is missing at least part of a transmission of sensor data or if the plausibility check determines the user input sensor data to be implausible. In various embodiments, the control module 34 may be configured to signal the stalling as part of the sensor feedback signal to the mobile communication device 100 .
  • the control module 34 may be configured to process the user input sensor data supplied by the mobile communication device 100 , and the control module 16 may be configured to provide or forward the (first and second) user input sensor data, obtain the sensor feedback signal, and present the feedback using the presentation device 20 .
  • control module 34 and/or the control module 16 may be configured to add further security and redundancy measures to communication.
  • the control module 34 and/or the control module 16 may e.g. be configured to communicate using sequence monitoring, e.g. using a persistent index to establish an order of transmitted sensor data, feedback, and/or redundancy data, which may be user to identify missing parts of the communication.
  • the control module 34 and/or the control module 16 may further be configured to use a Cyclic Redundancy Check (CRC) to secure messages, e.g. to allow a recovery of lost or corrupted transmissions.
  • CRC Cyclic Redundancy Check
  • the control module 34 and/or the control module 16 may further provide watchdog functionality to identify failed communication or transmissions.
  • control module 34 may be configured to provide the sensor feedback signal to the mobile communication device 100 , and the sensor feedback signal may be used to output a representation of the sensor feedback signal using the feedback presentation device 20 .
  • the control module 16 may be further configured to provide feedback representation feedback to acknowledge an outputting of the sensor data.
  • the feedback representation feedback may comprise values outputted by the feedback presentation device 20 .
  • the control module 34 may be configured to check a match of the outputted values and the transmitted sensor feedback signal.
  • control module 34 and/or the control module 16 may be configured to add a time-stamp when communicating, e.g. to identify an order within the communication, and/or to identify delays or a plausibility of sensor data (missing sensor data).
  • the apparatus 30 may comprise one or more additional optional features corresponding to one or more aspects of the proposed concept or one or more examples described above or below.
  • FIG. 3 a illustrates a number of exemplary embodiments.
  • 3002 illustrates an exemplary embodiment (slide & cam), wherein the first user input sensor data corresponds to touch-screen user input, and wherein the second user input sensor data corresponds to camera sensor data.
  • 3004 illustrates a further exemplary embodiment (slide & tilt), which will be introduced in more detail later.
  • 3006 (also in FIG. 3 b ) illustrates another exemplary embodiment (slide & circle), wherein the first user input sensor data corresponds to touch screen coordinates of a first section of a touch screen display displaying a slider 3006 a comprising a starting point 3006 b , an up position 3006 c and a down position 3006 d .
  • the second user input sensor data may correspond to touch screen coordinates of a second section of the touch screen display showing a circular display element 3006 e .
  • the controlling is activated/unlocked using the slider 3006 a as will be illustrated subsequently (similar to 3004 a in FIG. 3 c ), and based on the second user input sensor data, an extent of the controlling is changed in a continuous circular motion 3006 e .
  • 3008 shows another exemplary embodiment based on first, second and third user input sensor data (volume buttons, touch screen coordinates, gyroscopic/acceleration sensor data).
  • FIG. 3 a further illustrates a rating of the aforementioned embodiments using the categories usability and risk reduction.
  • FIG. 3 c shows an exemplary embodiment (slide & tilt 3004 ).
  • the first user input sensor data may correspond to touch screen coordinates.
  • the second input sensor data may correspond to angular data (tilt) 3004 e of a gyroscope.
  • the control module 16 may be configured to provide the sensor input signal to the machine control entity 300 to control a hitch of a tractor.
  • the apparatus 10 may correspond to an app running on the mobile communication device 100 .
  • a user intending to control the hitch may start the app, connect to a machine control entity 300 of the tractor and navigate into a front- or rear-hitch control view. After connection, the machine control entity may validate and check for plausibility the user input supplied by the user.
  • the operator may first select the direction via a touch-screen slider 3004 a .
  • the user may e.g. put a finger on a button 3004 b in the middle of the slider 3004 a .
  • the user may unlock the slider (as may be indicated by a short vibration feedback).
  • the user may move the slider 3004 a in a chosen direction (up 3004 c or down 3004 d ) until a target area or range may be reached.
  • a continuous movement may be required for the touch-screen input to pass the plausibility check at the machine control entity 300 .
  • the operator may tilt 3004 e the phone (e.g. to a predetermined amount).
  • a continuous movement may be required to pass the plausibility check.
  • the movement may be guided by increasing vibration, and a target area may be signified through a step in vibration. While both “enablers” are in their target area, the hitch may move.
  • a specific vibration design may be used to better distinguish up and down movement as well as different relevant states of the apparatus in general.
  • the vibration design shall may clearly indicate when the phone is tilted 3004 e in a “hitch movement position”. Initially the phone may be tilted in a “downward” direction, supporting a “TV remote control metaphor”.
  • slider-button 3004 a 3004 b
  • a much larger button design might be chosen to ease the usage. On the other hand, this might in turn favor accidental usage.
  • Visual elements on the feedback presentation device 20 may make it obvious to distinguish “up” and “down”.
  • the target tilting area i.e. the area that keeps the hitch movement ongoing
  • the slider might also be realized in a way so that it is not possible to manipulate it directly. First, the finger may need to rest on the slider 3004 a for a pre-determined time-period (e.g. 1 second) before it can actually be moved.
  • the slider 3004 a may be realized in a way that makes unwanted manipulation less probable. There may be a continuous finger movement, e.g. from the center 3004 b towards the end 3004 c ; 3004 d . When a (rather small) area in the end is then reached, the hitch direction may be chosen and the slide may be successful. For the tilt 3004 e , too, a continuous movement may be required. Vibration design (as mentioned before) may guide the tilt action.
  • control module 34 may be configured to adjust for a variance in the tilt angular sensor data induced by unsteady hands of an operator and the vibration of the phone to detect stuck-at failures of the tilt sensor, e.g. for the plausibility check.
  • the tilting amount may be relative to a start position. The start position may be determined by the precedent slide action.
  • control module 34 may be configured to control the machine based on a number of criteria.
  • the touch screen coordinates may be used to determine a direction (up, down) and activation (yes, no) of the hitch, while the angular sensor data may be user to activate the hitch movement and extent.
  • the control module 34 may be configured to use thresholds to validate (activate the controlling) based on the first user input sensor data (touch screen coordinates), e.g. the slider is moved into a position, and may further use the second user input sensor data to further validate and/or check for plausibility the first and second user input sensor data, e.g. by using a second threshold for the angular sensor data beyond which a hitch movement starts.
  • the control module 34 may be configured to check the first and second user input sensor data for plausibility, e.g. derived from established failure models for sensors.
  • the control module 34 may e.g. be configured to check for stuck at (random/constant) sensor data, check for a (continuous) change in the sensor data, check for an offset (add/multiply constant), check for noise (add random), check for duplicate sensor data, check for a delay in received sensor data, and/or check for omission of sensor data.
  • the control module 34 may be configured to use one of the first user input sensor data and the second user input sensor data to validate the (first and/or second) user input sensor data and to control the machine.
  • the control module 34 may be configured to validate the second user input sensor data based on the first and second user input sensor data.
  • the first and second user input sensor data may be based on the same sensor.
  • the first user input sensor data may comprise raw- or meta data of a sensor module and the second user input sensor data may comprise pre-processed sensor data.
  • the control module 34 may be configured to determine, whether an actuator is actuated in conformance with a user's intention (e.g. that the actuation does not lead to harm, neither due to false interpretation of the user intention nor due to failures in the system).
  • control module 34 may be configured to determine the plausibility based on the timing of the first and second user input sensor data, e.g. the slide & tilt timing (stop before, start before, fully before, same time, stop after, start after, fully after).
  • FIG. 4 shows a flow chart of an embodiment of a method for a mobile communication device 100 for providing a sensor input signal to an external machine control entity 300 to control a machine 350 .
  • the method comprises providing 42 first user input sensor data.
  • the method further comprises providing 44 second user input sensor data.
  • the method further comprises determining 46 the sensor input signal based on the first user input sensor data and the second user input sensor data.
  • the method further comprises providing 48 the sensor input signal for sensor data processing and validation to the machine control entity 300 to control the machine 350 .
  • FIG. 5 shows a flow chart of an embodiment of a method for a machine control entity 300 for controlling a machine 350 based on a sensor input signal from a mobile communication device 100 .
  • the method comprises receiving 52 the sensor input signal from the mobile communication device 100 .
  • the sensor input signal comprises information related to first user input sensor data and information related to second user input sensor data.
  • the method further comprises validating 54 the second user input sensor data based on the first user input sensor data.
  • the validation is based on a comparison of the first user input sensor data with at least one validation criterion.
  • the method further comprises controlling 56 the machine 350 based on the first user input sensor data and the second user input sensor data after the second user input sensor data has been validated.
  • Some embodiments comprise a digital control circuit installed within the apparatus for performing the method.
  • a digital control circuit e.g. a Digital Signal Processor (DSP)
  • DSP Digital Signal Processor
  • yet further embodiments also provide a computer program having a program code for performing embodiments of the method, when the computer program is executed on a computer, a digital processor, or a programmable hardware component.
  • a further embodiment is a computer readable storage medium storing instructions which, when executed by a computer, processor, or programmable hardware component, cause the computer to implement one of the methods described herein.
  • program storage devices e.g., digital data storage media, which are machine or computer readable and encode machine-executable or computer-executable pro-grams of instructions where said instructions perform some or all of the steps of methods described herein.
  • the program storage devices may be, e.g., digital memories, magnetic storage media such as magnetic disks and magnetic tapes, hard drives, or optically readable digital data storage media.
  • the embodiments are also intended to cover computers programmed to perform said steps of methods described herein or (field) programmable logic arrays ((F)PLAs) or (field) programmable gate arrays ((F)PGAs), programmed to perform said steps of the above-described methods.
  • Functional blocks denoted as “means for . . . ” shall be understood as functional blocks comprising circuitry that is adapted for performing or to perform a certain function, respectively.
  • a “means for s.th.” may as well be understood as a “means being adapted or suited for s.th.”.
  • a means being adapted for performing a certain function does, hence, not imply that such means necessarily is performing said function (at a given time instant).
  • any functional blocks labeled as “means”, “means for controlling”, “means for transmitting”, “means for receiving”, “means for transceiving”, “means for processing”, etc. may be provided through the use of dedicated hardware, such as “a controller”, “a transmitter”, “a receiver”, “a transceiver”, “a processor”, etc. as well as hardware capable of executing software in association with appropriate software.
  • any entity described herein as “means”, may correspond to or be implemented as “one or more modules”, “one or more devices”, “one or more units”, etc.
  • processor When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared.
  • explicit use of the term “processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage. Other hardware, conventional or custom, may also be included. Their function may be carried out through the operation of program logic, through dedicated logic, through the interaction of program control and dedicated logic, or even manually, the particular technique being selectable by the implementer as more specifically understood from the context.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • ROM read only memory
  • RAM random access memory
  • non-volatile storage Other hardware, conventional
  • any block diagrams herein represent conceptual views of illustrative circuitry embodying the principles of the invention.
  • any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes, which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.
  • each claim may stand on its own as a separate embodiment. While each claim may stand on its own as a separate embodiment, it is to be noted that—although a dependent claim may refer in the claims to a specific combination with one or more other claims—other embodiments may also include a combination of the dependent claim with the subject matter of each other dependent claim. Such combinations are proposed herein unless it is stated that a specific combination is not intended. Furthermore, it is intended to include also features of a claim to any other independent claim even if this claim is not directly made dependent to the independent claim.

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EP3165974A1 (fr) 2017-05-10
US20170228145A1 (en) 2017-08-10

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